#ifndef _INCL_CQUADROTOR
#define _INCL_CQUADROTOR


#include "CPilot.h"
#include "CFlyingRobot.h"
#include "CLaserSensor.h"

#include <mrpt/poses/CPose3D.h>
#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>

using namespace mrpt;
using namespace mrpt::slam;
using namespace mrpt::math;
using namespace mrpt::utils;

class CQuadrotor
{
   public : 
   
   CQuadrotor();
   ~CQuadrotor();
   
   void simulate();
   void init();
   CPose3D getRenderPose();
   
  CFlyingRobot model;
  
  CPilot pilot;
  
  CLaserSensor laser;
   void setView(COpenGLViewportPtr view_ );
  private:
  COpenGLViewportPtr view; 

  double timestamp;

};


#endif
